{"id":"https://openalex.org/W4314946000","doi":"https://doi.org/10.1109/cdc51059.2022.9993080","title":"Task-Invariant Centroidal Momentum Shaping for Lower-Limb Exoskeletons","display_name":"Task-Invariant Centroidal Momentum Shaping for Lower-Limb Exoskeletons","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4314946000","doi":"https://doi.org/10.1109/cdc51059.2022.9993080"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993080","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9993080","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100337823","display_name":"Miao Yu","orcid":"https://orcid.org/0000-0002-4883-8430"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miao Yu","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042281414","display_name":"Ge Lv","orcid":"https://orcid.org/0000-0001-5457-4075"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ge Lv","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":0.976,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76415897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2054","last_page":"2060"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8654114007949829},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5583276748657227},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5549196600914001},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5211694240570068},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46290478110313416},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4207383394241333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3624646067619324},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2845284342765808},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20735231041908264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2043187916278839},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18975397944450378},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09778931736946106}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8654114007949829},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5583276748657227},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5549196600914001},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5211694240570068},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46290478110313416},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4207383394241333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3624646067619324},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2845284342765808},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20735231041908264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2043187916278839},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18975397944450378},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09778931736946106},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993080","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9993080","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6100000143051147,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1564897360","https://openalex.org/W1991475700","https://openalex.org/W2017696688","https://openalex.org/W2022714210","https://openalex.org/W2044143754","https://openalex.org/W2047953306","https://openalex.org/W2081254081","https://openalex.org/W2100792856","https://openalex.org/W2102159351","https://openalex.org/W2108419276","https://openalex.org/W2131560473","https://openalex.org/W2131687889","https://openalex.org/W2143729862","https://openalex.org/W2155176283","https://openalex.org/W2167808181","https://openalex.org/W2168070094","https://openalex.org/W2335044248","https://openalex.org/W2343715419","https://openalex.org/W2528852373","https://openalex.org/W2576494710","https://openalex.org/W2614919192","https://openalex.org/W2735543790","https://openalex.org/W2794137600","https://openalex.org/W2884479820","https://openalex.org/W2893393234","https://openalex.org/W2901258812","https://openalex.org/W2910732430","https://openalex.org/W2922211960","https://openalex.org/W2928957649","https://openalex.org/W2972566546","https://openalex.org/W3022003141","https://openalex.org/W3040642271","https://openalex.org/W3128124816","https://openalex.org/W3181452232","https://openalex.org/W4210333626","https://openalex.org/W4211003818"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2590554196","https://openalex.org/W2593563634","https://openalex.org/W4200596012"],"abstract_inverted_index":{"Task-invariant":[0],"approaches":[1,24,34],"are":[2,26],"desirable":[3],"in":[4,117],"exoskeleton":[5,108],"control":[6,33,63,126],"design":[7,89,127],"as":[8,185],"they":[9],"have":[10],"the":[11,44,70,83,107,121,125,134,141,144,151,172],"potential":[12],"of":[13,78,86,136,143,153],"providing":[14],"consistent":[15],"assistance":[16],"across":[17],"locomotor":[18],"tasks.":[19],"Different":[20],"from":[21],"traditional":[22],"trajectory-tracking":[23],"that":[25,171],"specific":[27],"to":[28,68,100,109,115],"tasks":[29],"and":[30,49,111],"users,":[31],"task-invariant":[32,62],"do":[35],"not":[36],"replicate":[37],"normative":[38],"joint":[39],"kinematics,":[40],"which":[41],"could":[42],"eliminate":[43],"need":[45],"for":[46,53,65,106,159],"task":[47],"detection":[48],"allow":[50],"more":[51],"flexibility":[52],"human":[54,71,96,182],"users.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59,148],"propose":[60],"a":[61,76,90,102,130,154,167],"paradigm":[64],"lower-limb":[66],"exoskeletons":[67],"alter":[69],"user's":[72,97],"centroidal":[73,104,145,155],"momentum,":[74],"i.e.,":[75],"sum":[77],"projected":[79],"limb":[80],"momenta":[81],"onto":[82],"human's":[84],"center":[85],"mass.":[87],"We":[88],"virtual":[91],"reference":[92,103],"model":[93],"based":[94],"on":[95,166,180],"self-selected":[98],"gaits":[99],"provide":[101],"momentum":[105,146,156],"track":[110],"make":[112],"it":[113],"adaptable":[114],"changes":[116],"gait":[118],"patterns.":[119],"Mathematically,":[120],"proposed":[122,173],"approach":[123],"reduces":[124],"problem":[128],"into":[129],"lower-dimensional":[131],"space.":[132],"With":[133],"number":[135],"actuators":[137],"being":[138],"greater":[139],"than":[140],"dimension":[142],"vector,":[147],"can":[149,176],"guarantee":[150],"existence":[152],"shaping":[157,174],"law":[158],"underactuated":[160],"systems":[161],"through":[162],"optimization.":[163],"Simulation":[164],"results":[165,179],"human-like":[168],"biped":[169],"show":[170],"strategy":[175],"produce":[177],"beneficial":[178],"assisting":[181],"locomotion,":[183],"such":[184],"metabolic":[186],"cost":[187],"reduction.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
